Direct Passive Navigation: Analytical Solution for Quadratic Patches
In this paper, we solve the problem of recovering the motion of an observer relative to a surface which can be locally approximated by a quadratic patch directly from image brightness values. We do not compute the optical flow as an intermediate step. We use the coefficients of the Taylor ser...
| Main Authors: | , |
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6441 |
| _version_ | 1826197292110053376 |
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| author | Negahdaripour, Shahriar Yuille, Alan |
| author_facet | Negahdaripour, Shahriar Yuille, Alan |
| author_sort | Negahdaripour, Shahriar |
| collection | MIT |
| description | In this paper, we solve the problem of recovering the motion of an observer relative to a surface which can be locally approximated by a quadratic patch directly from image brightness values. We do not compute the optical flow as an intermediate step. We use the coefficients of the Taylor series expansion of the intensity function in two frames to determine 15 intermediate parameters, termed the essential parameters, from a set of linear equations. We then solve analytically for the motion and structure parameters from a set of nonlinear equations in terms of these intermediate parameters. We show that the solution is always unique, unlike some earlier results that reported two-fold ambiguities in some special cases. |
| first_indexed | 2024-09-23T10:45:48Z |
| id | mit-1721.1/6441 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T10:45:48Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/64412019-04-11T04:54:43Z Direct Passive Navigation: Analytical Solution for Quadratic Patches Negahdaripour, Shahriar Yuille, Alan In this paper, we solve the problem of recovering the motion of an observer relative to a surface which can be locally approximated by a quadratic patch directly from image brightness values. We do not compute the optical flow as an intermediate step. We use the coefficients of the Taylor series expansion of the intensity function in two frames to determine 15 intermediate parameters, termed the essential parameters, from a set of linear equations. We then solve analytically for the motion and structure parameters from a set of nonlinear equations in terms of these intermediate parameters. We show that the solution is always unique, unlike some earlier results that reported two-fold ambiguities in some special cases. 2004-10-04T14:56:26Z 2004-10-04T14:56:26Z 1986-03-01 AIM-876 http://hdl.handle.net/1721.1/6441 en_US AIM-876 3629388 bytes 1389876 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Negahdaripour, Shahriar Yuille, Alan Direct Passive Navigation: Analytical Solution for Quadratic Patches |
| title | Direct Passive Navigation: Analytical Solution for Quadratic Patches |
| title_full | Direct Passive Navigation: Analytical Solution for Quadratic Patches |
| title_fullStr | Direct Passive Navigation: Analytical Solution for Quadratic Patches |
| title_full_unstemmed | Direct Passive Navigation: Analytical Solution for Quadratic Patches |
| title_short | Direct Passive Navigation: Analytical Solution for Quadratic Patches |
| title_sort | direct passive navigation analytical solution for quadratic patches |
| url | http://hdl.handle.net/1721.1/6441 |
| work_keys_str_mv | AT negahdaripourshahriar directpassivenavigationanalyticalsolutionforquadraticpatches AT yuillealan directpassivenavigationanalyticalsolutionforquadraticpatches |